The adaptive control method for an unmanned vehicle with a slung load utilizes a feedback linearization controller (FLC) to perform vertical take off, hovering and landing of an unmanned aerial vehicle with a slung load, such as a quadrotor drone or the like. The controller includes a double loop architecture, where the overall controller includes an inner loop having an inner controller which is responsible for controlling the attitude angles and the altitude, and an outer loop having an outer controller responsible for providing the inner loop inner controller with the desired angle values. States, such as including roll, pitch, yaw and/or altitude, are selected as outputs and the feedback linearization technique is used.
Adaptive control method for unmanned vehicle with slung load
2015-09-29
Patent
Electronic Resource
English
IPC: | B64C AEROPLANES , Flugzeuge / B64B LIGHTER-THAN-AIR AIRCRAFT , Luftfahrzeuge leichter als Luft / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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